diff --git a/test/fixture.h b/test/fixture.h
index cbb71d5f..0569579d 100644
--- a/test/fixture.h
+++ b/test/fixture.h
@@ -53,6 +53,9 @@ class MujocoErrorTestGuard {
 // By default, any MuJoCo operation which triggers a warning or error will
 // trigger a test failure.
 class MujocoTest : public ::testing::Test {
+ public:
+  ~MujocoTest() { mj_freeLastXML(); }
+
  private:
   MujocoErrorTestGuard error_guard;
 };
diff --git a/test/xml/xml_api_test.cc b/test/xml/xml_api_test.cc
index fdd1421b..d8b7a58c 100644
--- a/test/xml/xml_api_test.cc
+++ b/test/xml/xml_api_test.cc
@@ -199,5 +199,15 @@ TEST_F(MujocoTest, SaveXmlWithDefaultMesh) {
   mj_deleteModel(saved_model);
 }
 
+TEST_F(MujocoTest, FreeLastXml) {
+  static constexpr char xml[] = "<mujoco/>";
+  mjModel* model = LoadModelFromString(xml, 0, 0);
+  ASSERT_THAT(model, NotNull());
+  mj_deleteModel(model);
+  ASSERT_NE(mj_saveLastXML(nullptr, nullptr, nullptr, 0), 0);
+  mj_freeLastXML();
+  ASSERT_EQ(mj_saveLastXML(nullptr, nullptr, nullptr, 0), 0);
+}
+
 }  // namespace
 }  // namespace mujoco